VEHICLE DETECTION DEVICE, VEHICLE DETECTION METHOD, AND VEHICLE DETECTION PROGRAM

摘要

Attention is paid on the phenomenon that substantially no direct sun light or no reflected light from surrounding objects is applied to a vehicle bottom side and tire travel surfaces and the vehicle bottom side and the tire travel surfaces have lower luminance values than all the other portions including the shades of trees or buildings along the road in an on-vehicle camera image. Luminance threshold specifying unit (13) analyzes an image luminance histogram and specifies the upper limit of the pixel luminance which can be assumed as a region of the vehicle bottom side. Vehicle assumed region extracting unit (15) assumes that the pixel position having a luminance value not greater than the upper limit is the region of the vehicle bottom side and sets a vehicle assumed region, thereby verifying presence/absence of a vehicle in the vicinity.